/* ff_util.h

*/

//void RTurn90(void);

//void showLinearDist(void);

//void showDist(void);

//void TurnTest(void);

//void LineDisplay(void);

//void LineTest(void);

//void HeadingTest(void);

int	GoToHeading(unsigned char,unsigned char);

int ScanRoomForFlame(void);

void GoToFlame(void);

void RWallFollow(int TargetDistance,int TerminatingCondition,unsigned long TerminatingValue);

void LWallFollow(int TargetDistance,int TerminatingCondition,unsigned long TerminatingValue);

void ExitRoom(void);
//void FlameDemo(void);
//void CenterRoomFlame(void);
int CheckTerminatingConditions(int TerminatingCondition,unsigned long TerminatingValue);
//void PWM_Test(void);

void Forward(int Speed,int TerminatingCondition,unsigned long TerminatingValue);

//void DisplayFlame(void);

//void RTurn(int Speed,int TerminatingCondition,unsigned long TerminatingValue);
//void LTurn(int Speed,int TerminatingCondition,unsigned long TerminatingValue);


//void showADCCenter(void);

void ToRoom1(void);
void ToRoom2(void);
void ToRoom3(void);
void ToRoom4(void);

void HomeFrom2(void);
void HomeFrom3(void);
void HomeFrom4(void);
void HomeFrom1(void);
